A Framework for Programming Embedded Systems: Initial Design and Results

Sebastian Thrun

This paper describes CES, a proto-type of a new programming language for robots and other embedded systems, equipped with sensors and actuators. CES contains two new ideas, currently not found in other programming languages: support of computing with uncertain information, and support of adaptation and teaching as a means of programming. These innovations facilitate the rapid development of software for embedded systems, as demonstrated by two mobile robot applications.

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@TECHREPORT{Thrun98m,
  AUTHOR         = {S. Thrun},
  YEAR           = {1998},
  TITLE          = {A Framework for Programming Embedded Systems: Initial 
                    Design and Results},
  NUMBER         = {CMU-CS-98-142},
  INSTITUTION    = {Carnegie Mellon University, Computer Science Department},
  ADDRESS        = {Pittsburgh, PA}
}